Surgical systems with robotic surgical tool having pluggable end-effectors

ABSTRACT

In one embodiment of the invention, a replaceable electrosurgical end effector cartridge is provided to couple to a mechanical wrist of a surgical instrument for a robotic surgical system. The replaceable electrosurgical end effector cartridge includes two pluggable end effectors and a pair of spring latches. The two end effectors are moveable end effectors having a jaw portion, an off-center portion, and a base portion in one embodiment. The replaceable electrosurgical end effector cartridge may further include a fastener to rotatably couple the end effectors together.

CROSS-REFERENCE TO RELATED APPLICATIONS

This non-provisional United States (U.S.) patent application claims thebenefit of and is a divisional of U.S. patent application Ser. No.11/238,698 filed on Sep. 28, 2005 by inventor Scott Manzo, entitledWRISTED ROBOTIC SURGICAL TOOL FOR PLUGGABLE END-EFFECTORS, now issued asU.S. Pat. No. 8,398,634. This application also claims the benefit of andis a divisional of U.S. patent application Ser. No. 12/753,221 filed onApr. 2, 2010 by inventor Scott Manzo, entitled ROBOTIC SURGICAL TOOL FORPLUGGABLE END-EFFECTORS, now issued as U.S. Pat. No. 9,144,452.

U.S. patent application Ser. No. 12/753,221 claims the benefit of and isa divisional of U.S. patent application Ser. No. 11/238,698 filed onSep. 28, 2005 by inventor Scott Manzo, entitled WRISTED ROBOTIC SURGICALTOOL FOR PLUGGABLE END-EFFECTORS, now issued as U.S. Pat. No. 8,398,634.

U.S. patent application Ser. No. 11/238,698 is a continuation in part ofU.S. patent application Ser. No. 10/126,451 filed on Apr. 18, 2002 byinventor Scott Manzo, entitled “ROBOTIC TOOL WITH MONOPOLARELECTRO-SURGICAL SCISSORS”, now issued as U.S. Pat. No. 6,994,708, thefull disclosure of which is incorporated herein by reference. U.S.patent application Ser. No. 11/238,698 further claims the benefit of andis a continuation in part of U.S. patent application Ser. No. 10/611,411filed on Jun. 30, 2003 by inventors Scott Manzo, et al. entitled“ELECTRO-SURGICAL INSTRUMENT WITH REPLACEABLE END EFFECTORS ANDINHIBITED SURFACE CONDUCTION”, now issued as U.S. Pat. No. 7,367,973,the full disclosure of which is also incorporated herein by reference.U.S. patent application Ser. No. 11/238,698 further claims the benefitof U.S. Provisional Patent Application No. 60/617,341 entitled “ROBOTICTOOL WITH WRISTED MONOPOLAR ELECTROSURGICAL SCISSORS” filed on Oct. 8,2004 by inventor Scott Manzo, et al., the full disclosure of which isincorporated herein by reference.

U.S. patent application Ser. No. 10/126,451 claims the benefit of U.S.Provisional Patent Application No. 60/285,502 entitled “ROBOTIC TOOLWITH MONOPOLAR ELECTRO-SURGICAL SCISSORS” filed on Apr. 19, 2001 byinventor Scott Manzo, et al., the full disclosure of which isincorporated herein by reference.

Additionally, this and U.S. patent application Ser. No. 11/238,698 arerelated to U.S. patent application Ser. No. 11/238,794 filed on Sep. 28,2005 by inventors Scott Manzo, et al., entitled “WRISTED ROBOTICSURGICAL TOOL WITH REPLACEABLE END EFFECTOR CARTRIDGES”, now issued asU.S. Pat. No. 9,358,031; and U.S. patent application Ser. No. 11/094,639filed on Mar. 30, 2005 by inventors Scott Manzo, et al., entitled“ROBOTIC TOOL WITH WRISTED MONOPOLAR ELECTROSURGICAL END EFFECTORS”, nowissued as U.S. Pat. No. 7,824,401.

FIELD

The embodiments of the invention are generally related to surgicalinstruments or tools. More particularly, the embodiments of theinvention relate to robotic surgical instruments and systems thatinclude electrosurgical end effectors and methods of performing arobotic surgical procedure.

BACKGROUND

After surgery on a patient, durable surgical instruments may generallybe replaced, if inexpensive, or sterilized and repaired for reuse inanother surgical procedure, if expensive. For example, a cutting bladeof a metal scalpel or surgical knife may become dull after completion ofa surgery. Instead of repairing and sterilizing the dull scalpel, ahospital may replace it with a new metal scalpel. Generally manualsurgical instruments are less expensive and may be subject toreplacement than more automated surgical equipment used in surgery, suchas a laparoscope for example.

To make the more expensive automated surgical equipment more attractivefor use in more hospitals, it is desirable to reduce the maintenance andreplacement costs of the more automated surgical equipment aftersurgery.

BRIEF SUMMARY

The embodiments of the invention are summarized by the claims thatfollow below.

BRIEF DESCRIPTIONS OF THE DRAWINGS

FIG. 1 is a perspective illustration of a robotic surgical system withwhich various embodiments of the invention may be used.

FIG. 2 is a perspective illustration of a robotic surgical tool that maybe used with the robotic surgical system of FIG. 1.

FIG. 3 is a perspective illustration of the robotic surgical tool inFIG. 2, with a cover of a tool base removed to show internal structuresof the tool base.

FIGS. 4A-4E illustrate an exemplary electro-surgical instrument or toolwith a replaceable end effectors.

FIG. 5 is a magnified view of an end of the robotic electro-surgicaltool illustrated in FIG. 4A.

FIGS. 6A-6B are magnified perspective and exploded views of the endeffector cartridge illustrated in FIG. 5.

FIGS. 7A-7B illustrate movement of the receptacle and end effectorcartridge while maintaining the end effectors in an open position.

FIGS. 8A-8B illustrate opening and closing of the end effectors withoutmoving the receptacle and end effector cartridge.

FIGS. 9A-9B illustrated magnified exploded views of the mechanical wristof FIG. 5.

FIG. 10 illustrated a magnified view of a subassembly of the mechanicalwrist of FIG. 5.

FIG. 11 illustrates a magnified view of a portion of a mechanical wristwith wristed receptacles.

FIG. 12 is a magnified perspective view of the pluggable end effectorcartridge for the wristed receptacles of FIG. 11.

FIG. 13 is a magnified perspective view of the pluggable end effectorcartridge plugged into the wristed receptacles of the mechanical wristillustrated in FIG. 11.

FIG. 14 is a magnified perspective view of the wristed receptacles ofthe mechanical wrist including additional optional electrical isolationfrom the pluggable end effector cartridge.

DETAILED DESCRIPTION

In the following detailed description of the embodiments of theinvention, numerous specific details are set forth in order to provide athorough understanding of the invention. However, it will be obvious toone skilled in the art that the embodiments of the invention may bepracticed without these specific details. In other instances well knownmethods, procedures, components, and circuits have not been described indetail so as not to unnecessarily obscure aspects of the embodiments ofthe invention.

The embodiments of the invention provide methods, apparatus and systemsfor replaceable electrosurgical end effectors in robotically controlledminimally invasive surgical operations. In particular, electrosurgicalcutting/shearing instruments and systems, as well as methods ofperforming minimally invasive robotic surgical procedures with suchinstruments are provided. The instruments of the embodiments of theinvention are capable of treating tissue with heat produced byelectrical energy while cutting, shearing, grasping, engaging, orcontacting treatment tissue. The electrosurgical treatment may furtherreduce bleeding of tissue by cauterizing tissue and coagulating blood,or achieve various other desired effects on the treatment tissue. Theelectrosurgical treatment is carried out in a safe and effective mannerthat incorporates a variety of safety features to prevent currentleakage to non-target tissue so as to reduce collateral tissue damage,unwanted burning, or the like.

Referring now to FIG. 1, a robotic surgical system 110 generallyincludes a user-operated control station or “surgeons console” 112 and asurgical work station or “cart” 120. The control station 112 includes animage display module 114 for displaying an image of a surgical site, asupport 116 on which an operator may rest his/her forearms, and a space118 where two master control devices are located (not shown). When usingcontrol station 112, a surgeon or other user typically sits in a chairin front of control station 112, views the surgical site through thedisplay module 114, and grips the master controls one in each hand whileresting the forearms on support 116. An exemplary robotic surgicalsystem as described in FIG. 1 is the DA VINCI™ system available fromIntuitive Surgical, Inc. of Mountain View, Calif.

Control station 112 is generally coupled to cart 120 such that commandsfrom the master controls may be transmitted to the cart 120. In use,cart 120 is positioned adjacent a patient requiring surgery and is thennormally caused to remain stationary until a surgical procedure to beperformed by means of surgical system 110 has been completed. Cart 120typically has wheels or castors to render it mobile. Control station 112is typically positioned remote from cart 120 and in some embodiments maybe separated from cart 120 by a great distance, for example miles away,but will typically be used within an operating room with the cart 120.

In various embodiments, cart 120 includes at least three robotic armassemblies 122, 126, 126, one of which is configured to hold an imagecapture device 124 and the others of which are configured to holdsurgical instruments 128. Alternatively, the cart may include more orfewer than three robotic arm assemblies and the robotic arm assembliesmay be configured to hold any suitable tool, instrument, imaging deviceand/or the like. Image capture device 124 may include any suitabledevice, such as an endoscope, fiber optic camera, or the like. Imagecapture device 124 generally includes an object viewing end 124.1 at aremote end of an elongate shaft configured to enable the viewing end124.1 to be inserted through an entry port in a patient's body tocapture an image of the surgical site.

Coupling of cart 120 to control station 112 generally enables displaymodule 114 to display an image captured by image capture device 124.Coupling of cart 120 to control station 112 also typically allows eachof the master controls on the control station 112 (not shown) to controlone robotic arm assembly 126 and one surgical instrument 128. In variousembodiments, each master control may alternatively be used to controlmore than one robotic arm assembly 126 and/or more than one surgicalinstrument 128.

Surgical instruments 128 on the robotic arm assemblies 126 typicallyinclude elongate shafts, with proximal and distal ends. End effectorsare generally mounted on wrist-like mechanisms pivotally mounted on thedistal ends of the shafts, for enabling the instruments 128 to performone or more surgical tasks. Generally, the elongate shafts of surgicalinstruments 128 allow the end effectors to be inserted through entryports in a patient's body so as to access the internal surgical site.Movement of the end effectors is generally controlled via mastercontrols on the control center 112.

Referring now to FIG. 2, surgical instrument 128 generally includes anelongate shaft 128.1 having a proximal end 133 and a distal end 131, apivot 132, an end effector 138 disposed at the distal end, and aninstrument base 134 disposed at the proximal end. Base 134 is generallyconfigured to releasably engage an interface member of the roboticsurgical system, such as robotic surgical system 110 in FIG. 1. Ingeneral, instrument 128 is engaged with the system via base 134 (basenot shown in FIG. 1) such that instrument 128 is releasably mountable ona carriage 137 which can be driven to translate along a linear guideformation 160 of the arm 126 in the direction of arrows P.

With reference to FIGS. 2 and 3, shaft 128.1 is rotatably mounted onbase 134 for rotation about an axis 128.2 extending longitudinally alongthe shaft 128.1 as indicated by the arrows A. Thus, when mounted on anarm assembly 126, end effector 138 may have a plurality of degrees offreedom of movement relative to manipulator arm 126, in addition toactuation movement of the end effector itself. The instrument may betranslated along an insertion axis (Arrows P in FIG. 1). Typically, theinstrument degrees of freedom include rotation about the axis 128.2 asindicated by arrows A, and in the case of instruments 128 includingpivots 132, angular displacement as a whole about pivot 132 as indicatedby arrows D. Alternatively, the distal pivoting degree of freedom may beomitted. A single pivot wrist, a multi-pivot wrist, a distal roll jointmechanism, or other joints or wrist-like mechanisms may be included toprovide additional operational degrees of freedom to the end effector.Movement of end effector 138 relative to manipulator arm 126 controlledby appropriately positioned actuators, such as electric motors, or thelike, which respond to inputs from an associated master control at thecontrol station 112, so as to drive the end effector 138 to a requiredorientation as dictated by movement of the associated master control.

Referring now to FIG. 3, base 134 of surgical instrument 128 suitablyincludes transmission members 170, 172, 174, and 176, which includespools secured on shafts 170.1, 172.1, 174.1, and 176.1. Ends of shafts170.1, 172.1, 174.1, 176.1 generally extend from a side 177 of base 134to a mounting plate 178 within base 134 and are configured to rotate.Generally, the ends of shafts 170.1, 172.1, 174.1, 176.1 at side 177 ofbase 134 extend through side 177, to an outer surface of side 177 (notshown). At the outer surface, each shaft 170.1, 172.1, 174.1, 176.1includes an engaging member (not shown) configured to releasably couplewith a complementary engaging member (not shown) rotatably mounted onthe carriage 137 of a robotic arm assembly 126 (see FIG. 1). Theengaging members on carriage 137 are generally coupled to actuators (notshown), such as electric motors or the like, to cause selective angulardisplacement of each engaging member on the carriage 137 in response toactuation of its associated actuator. Thus, selective actuation of theactuators is transmitted through the engaging members on the carriage137, to the engaging members on the opposed ends of the shafts 170.1,172.1, 174.1, 176.1 to cause selective angular displacement of thespools 170, 172, 174, 176. Where more or fewer degrees of freedom aredesired, the number of spools may be decreased or increased.

Electrosurgical Tool with Replaceable End Effectors

FIGS. 4A-4E illustrate one embodiment of a robotic electrosurgical tool400 including disposable, replaceable, or pluggable end effectors. Thesefigures are for illustration purposes and do not necessarily reflect theactual shape, size, or dimensions of the robotic electrosurgicalinstrument or tool nor the disposable, replaceable, or pluggable endeffector cartridge.

Referring now to FIGS. 4A-4C, the robotic electrosurgical tool 400includes a set of disposable, replaceable, or pluggable end effectors aspart of a cartridge 414 for use with the minimally invasive roboticsurgical system of FIG. 1 is illustrated. The end effector cartridge 414is replaceable so that it can be readily cleaned and/or replaced whendull by fresh sharp end effectors. That is, the set of end effectors ofthe cartridge 414 can be plugged into and unplugged from the roboticelectrosurgical tool 400.

The robotic electrosurgical tool 400 includes an elongated shaft 416having a proximal end and a distal end; disposable replaceable,pluggable end effector cartridge 414; and an interface or tool base 412coupled to the proximal end of the shaft 416 and removably connectableto the robotic surgical system.

At the distal end of the shaft 416 is a mechanical wrist 402 with tworeceptacles or two receptacle halves 404. The orientation of themechanical wrist 402 is controlled through pulleys in the tool base 412and the wrist 402 with cables of cable loops wrapped around each beingrouted through the shaft 416. The robotic system causes the pulleys inthe tool base 412 to be rotated in order to control the position of themechanical wrist 402, the receptacles or receptacle halves 404, and theend effectors 414 coupled into the receptacle. Thus, the cable of thecable loops may also be referred to as a control cable.

Further details of mechanical wrists that may be applicable to themechanical wrist 402 are described in U.S. Patent Nos. with filing datesand named inventor as follows U.S. Pat. No. 5,792,135, May 16, 1997,Madhani et al; U.S. Pat. No. 5,979,900, May 16, 1997, Madhani et al;U.S. Pat. No. 5,807,377, May 16, 1997, Madhani et al; U.S. Pat. No.6,206,903, Oct. 8, 1999, Ramans; U.S. Pat. No. 6,312,435, Oct. 8, 1999,Wallace et al.; U.S. Pat. No. 6,371,952, Jun. 28, 1999, Madhani et al;U.S. Pat. No. 6,394,998, Sep. 17, 1999, Wallace et al.; U.S. Pat. No.6,676,684, Sep. 4, 2001, Morley et al.; U.S. Pat. No. 6,685,698, Jan.10, 2003, Morley et al.; U.S. Pat. No. 6,699,235, Mar. 2, 2004, Wallaceet al.; U.S. Pat. No. 6,746,443, Jul. 27, 2000, Morley et al.; U.S. Pat.No. 6,817,974, Jun. 28, 2002, Cooper et al.; and application Ser. No.10/726,795, Pub. No.: US 2004/0138700 A1, Dec. 2, 2003, Cooper et al.,all of which are incorporated herein by reference.

The receptacles or receptacle halves 404 receive the disposable,replaceable, or pluggable end effectors 414 and includes a pair ofactuators to actuate the pair of end effectors. In the parent patentapplication, U.S. patent application Ser. No. 10/126,451, the endeffectors were actuated by the mechanical movement of a rod within theshaft from the interface or tool base. In contrast, the end effectors414 in this case are actuated from the tool base 412 through a cableloop, pulleys, and a spool similar to how other elements of the wrist402 are controlled. In this case, two cable loops are used to actuatethe end effectors 414, one cable loop for each. In the parent patentapplication, U.S. patent application Ser. No. 10/126,451, the endeffector may have been replaceable but did not move. In this case, theend effectors are moveable as well as being replaceable, disposable, orpluggable.

The disposable, replaceable, or pluggable end effectors in the cartridge414 are used in performing a surgical operation such as cutting,shearing, grasping, engaging, or contacting tissue adjacent a surgicalsite. Preferably, in one embodiment of the invention, the end effectorcartridge 414 includes a pair of scissor-like blades (see blades601A-601B illustrated in FIGS. 6A-6B, for example) for cooperativelyshearing the tissue. Additionally, a conductor electricallycommunicating with at least one blade delivers electrical energy totissue engaged by the blades.

As shown in FIG. 4B, the tool base 412 may be enclosed by a cover 472which mounts an electrical connector 474 for the conductor to permitconnection to an electrosurgical generator G 150 illustrated in FIG. 1.

Referring momentarily back to FIG. 1, the electrosurgical generator G150 is a part of the robotic surgical system 110. The electrosurgicalgenerator G 150 is controlled through the control station 112 over thecontrol cable 147 by a surgeon operating the control station. One ormore wires are routed within a cable 148 that is coupled to theelectrical connector 474. In the case of a monopolar system, one wire isrouted within the cable 148 to the electrical connector 474 and a groundwire 149 is coupled to the patient. In the case of a bipolar system, twowires are routed within the cable 148 to the electrical connector 474and the ground wire 149 is not used.

Referring now to FIG. 4C, an insulated conductor 448 passes out from theshaft 416 to the rear of base 412 to the electrical connector 474 forconnection to the electrosurgical generator G 150.

As discussed previously, the end effectors in the cartridge 414 areactuated from the tool base 412 through a cable of a cable loop,pulleys, and a spool. The tool base 412 includes spools 434A-434C, guidepulleys 435A-435B, and cable loops 436A-436C to control the mechanicalwrist 402 and the end effectors of the replaceable end effectorcartridge 414.

A cable loop is a single cable routed in a loop around the drive pulleyfrom the spool in the tool base. A cable loop may be formed by joiningor splicing different segments of cable together. The cables of thecable loops 436A-434C are routed from the spools over the guide pulleys435A-435B and through the shaft 416 to drive pulleys in the wrist 402.The tool base 412 further includes a spool 464 and a drum 462 with acable loop coupled there-between to control the rotation of the shaft416 and the wrist 402.

A first end of the cable of each cable loop is wrapped in one directionaround the spool with the second end of the cable wrapped in an oppositedirection around the same spool. In this manner, one end of cable istaken up while the other end of the cable is released during therotation of a spool. Each spool includes a tension mechanism to avoidslack in the cable of each cable loop.

The shaft of each spool extends through the tool base 412 to itsunderside to couple to an engaging member. The engaging member canreleasably couple to a complimentary engaging member that is in turncoupled to an actuator of the surgical system, such as an electricmotor, to cause an angular displacement in the spool in response to acontrol signal from the control console.

An optional flush tube 476 may be mounted to a tool base cover 472 by aflush port 478 and the assembled base 412. The flush tube preferablyextends forward (distally) within the base 412 to communicate with theshaft 416 to permit fluids to be passed through the shaft 416 and/or topressurize the shaft 416. For example, introduction of insufflation gasduring surgery or the introduction of cleaning or sterilization gases orfluids prior and/or subsequent to surgery may be passed to the shaft 416via flush tube 476. U.S. Pat. No. 6,004,509 describes the use of fluidsand gases to maintain sterility of a surgical instrument, and isincorporated herein by reference.

Referring now to FIGS. 4D and 4E, the base cover 472 mounts anelectrical connector 474, in this case banana clip assembly 474 a, 474b, and 474 c, for the insulated conductor 448 to permit connection tothe electrosurgical generator G 150. Note that the connections describedabove provide an insulated continuous electrical path from the baseconnector 474 to the end effectors 601A-601B, protected from tissuecontact except at the jaw portions thereof. Energization of the endeffectors 601A-601B is controllable by the surgeon.

Replaceable End Effector Cartridge

Referring now to FIGS. 5 and 6A-6B, the disposable, replaceable, orpluggable end effector cartridge 414 can be mounted into a receptacle404 at the distal end of the shaft 416, as previously discussed. Thedisposable, replaceable, or pluggable end effector cartridge 414 canalso be dismounted from the receptacle 404 so that it can be replacedwith a new end effector cartridge 414.

In one embodiment of the invention, the disposable, replaceable, orpluggable end effector cartridge 414 may include two movable endeffectors 601A-601B; a pivot fastener such as a pivot pin, bolt (with orwithout a nut), screw, or rivet 602; a first spring latch 604A; and asecond spring latch 604B, coupled together as shown in FIGS. 5 and 6A.The pivot fastener 602 provides a free floating blade pivot. Drivepulleys in the mechanical wrist 402 may pull in opposite directions topull open the moveable end effectors 601A-601B and push in oppositedirections to push close the moveable end effectors 601A-601B.

The components of the set of replaceable end effectors 414 are formed ofmetal, an alloy, or other metalized or conductive material so that theycan become electrically live and carry a current to tissue from thegenerator 150. In contrast, but for the electrical contacts 502A-502B,the receptacle 404 is formed of insulative materials so that themechanical wrist 402, shaft 416, and tool base are electrically isolatedfrom the electrically live end effector cartridge 414.

Each of the end effectors 601A-601B includes a jaw region 620 and a baseregion 622. In the base region 622, the end effectors 601A-601B includeopenings 610A-610B where the pivot pin 602 rotatably couples themtogether at a pivot point. In the base region 622 of each end effectors601A-601B, is a drive opening 612A-612B along a radius from the pivotpin openings 610A-610B. The drive opening 612A-612B engages with arespective drive tab to move the end effectors 601A-601B.

The spring latches 604A-604B also include pivot openings 609A-609Bthrough which the pivot pin 602 may be inserted. The spring latches604A-604B further include the respective drive tabs 608A-608B to engagethe drive openings 612A-612B in the end effectors 601A-601B. In thismanner, the pivot pin 602 couples the spring latches 604A-604B to therespective end effectors 601A-601B at the pivot point. That is, thespring latch 604A is coupled to the end effector 601A and the springlatch 604B is coupled to the end effector 601B so that the pivot pin andthe pivot openings allows them to pivot with respect to each.

In one embodiment of the invention, the pivot fastener is a rivetincluding a head and a shank coupled together. One end of the shank canbe forced into an upset tail to mushroom over and rotatably hold thecomponents of the cartridge 414 together. With the end effectors601A-601B riveted together, they may hang free to rotate at the basepivot of the rivet.

Each of the latches 604A-604B includes a retention slot 606A-606B,respectively, to couple to catches 504A-504B in the electrical contacts502A-502B of the receptacle 404. The spring latches 606A-606B can beflexed to release the retention slots 606A-606B from the catches or tabs504A-504B of the electrical contacts 502A-502B in the receptacle toreplace the end effector cartridge 414.

In one embodiment of the invention, the jaw portion of one or both ofthe movable end effectors 601A-601B includes a blade of a shear orscissors cartridge. With the blades being electrically hot through acurrent from the generator, the cartridge may be referred to as a hotshear cartridge. The pivot pin 602 for the blades may be a simple rivetor alternatively an adjustable screw to obtain a desired shearingaction.

Referring now to FIGS. 7A-7B, the pluggable moveable end effectorcartridge 414 is plugged into and mounted to the receptacle 404 of themechanical wrist 402. The base region 622 of each end effector isplugged into an open end of receptacle halves 501A-501B of thereceptacle 404 so that each spring latch 604A-604B is slightly flexed toallow the retention slots 606A-606B to engage with the catches 504A-504Bof the electrical contacts 502A-502B. The spring latches 604A-604B snapback over the catches 504A-504B so that the retention slots 606A-606Bhold the cartridge 414 coupled to the receptacle 404.

To dismount the pluggable moveable end effector cartridge 414, thespring latches 604A-604B may be squeezed together (such as with asurgical grasping tool or by use of fingers) to release the retentionslots 606A-606B from the catches 504A-504B. The end effector cartridgecan then be pulled out and unplugged from the receptacle halves of thereceptacle.

The end effectors or blades 601A-601B preferably comprise conductivematerials, such as stainless steel and the like, so as to provide aconduction path to tissue. The end effectors or blades 601A-601B may bestraight or curved at the shearing surfaces thereof (e.g., curvedMetzenbaum blades).

As discussed previously, the disposable, replaceable, or pluggable endeffector cartridge 414 is used in performing a surgical operation suchas cutting, shearing, grasping, engaging, or contacting tissue adjacenta surgical site. The end effectors 601A-601B may be blades of a shear orscissors in one embodiment of the invention. In another embodiment ofthe invention, the end effectors 601A-601B may be the jaws of a gripperto grasp, engage or contact tissue. The end effectors 601A-601B may takeon other known surgical functions. As the pluggable moveable endeffector cartridge defines the function of the robotic surgical tool,the function of the robotic surgical tool can be interchangeable withthe cartridge.

Wristed Receptacle

Referring now to back to FIG. 5, the wrist 402 includes a first joint511, a second joint 512, and the receptacle 404 coupled together. Thereceptacle 404 is split into two receptacle halves including a top bladedriver 501A and a bottom blade driver 501B and electrical contacts502A-502B. The receptacle 404 may also be referred to as a wristedreceptacle and the blade drivers may be referred to as receptaclehalves.

The top blade driver 501A is coupled to the top drive pulley 510Athrough the drive pin 522A. The bottom blade driver 501B is coupled tothe bottom drive pulley 510B through the drive pin 522B. (see FIGS.9B-10) The drive pulleys 510A-510B rotate about a first wrist pin 520.The top blade driver 501A and the bottom blade driver 501B are pivotedby the respective drive pulleys 510A-510B to rotate about a respectivetop engagement feature 950 engaged with a bottom engagement feature 952defining an axis 800. The first joint 511 is coupled to the second joint512 through a second wrist pin 522. The first joint 511 is coupled tothe distal end of the shaft 416.

Referring now again to FIGS. 7A-7B, the pluggable moveable end effectorcartridge 414 is plugged into the receptacle 404. Together, thepluggable moveable end effector cartridge 414 and the receptacle 404 canbe rotated together about the axis 700 of the wrist pin 520. Toaccomplish this rotation, both drive pulleys 510A-510B are conjunctivelycontrolled together through pulleys in the interface base by means ofcable loops routed through the shaft 416 and into the wrist 402. Thatis, with no difference in control of the drive pulleys, they move inlockstep together, the end effectors are not opened or closed by theblade drivers 501A-501B. However if there is a difference in the controlof the drive pulleys 510A-501B (e.g., one moves less, one doesn't move,or they move in different directions), the end effectors 601A-601B arerespectively pivoted opened or closed by the blade drivers 501A-501B.

FIGS. 8A-8B illustrate how the end effectors 601A-601B are respectivelymoved to open and closed positions by the blade drivers 501A-501B. InFIG. 8A, the end effectors 601A-601B of the cartridge 414 are in aclosed position as it may be to plug the cartridge 414 into thereceptacle 404. The top blade driver 501A may be pivoted in onedirection about the axis 800 while the bottom blade driver 501B ispivoted in the opposite direction about the axis 800. This causes theend effectors 601A-601B to pivot about the pivot pin 602 near the pivotaxis 800 to the positions 601A′ and 601B′, respectively. The pivot axis800 is offset from the axis 700 where the driver pulleys rotate. Theoffset axis 800 allows for increased opening and a mechanical advantagebetween and to the end effectors 601A-601B. Additionally, this increasesthe distance between the end effectors 601A-601B and the metalcomponents of the wrist, such as the joint 512, improving electricalisolation between the two (assuming the blade drivers 501A-501B are madefrom an insulative plastic). That is, the drive pulleys 510A-510Bcoupled to the blade drivers 501A-501B are not controlled together inthe same direction so that the end effectors 601A-601B may be opened andclosed together. In one embodiment of the invention, one drive pulleyand blade driver is moved while the other driver pulley and blade driverremain stationary in the same position. IN another embodiment of theinvention, both drive pulleys and blade drivers move in opposeddirections.

With additional control complexity, the driver pulleys 510A-510B andblade drivers 501A-501B can be controlled disjointly so that the endeffectors 601A-601B can be moved about both axes 700 and 800 so as to bereoriented directionally (see FIGS. 7A-7B) and positionally (see FIGS.8A-8B). This control can be readily provided by the control station 112through the respective spools, pulleys and cable loops routed in theshaft from the tool base to the wrist 402.

Referring now to FIGS. 9A-9B, exploded views of the wrist 402 areprovided to better illustrate the components thereof. The top and bottomblade drivers 501A-501B include drive pin openings 922A-922B torespectively receive the drive pins 522A-522B that are coupled to thedrive pulleys 510A-510B. The top and bottom blade drivers 501A-501Bfurther include a connector slot 932A-932B to receive the electricalconnectors 502A-502B, respectively.

Additionally, the top blade driver 501A includes top engagement features950 in its left and right shoulders and the bottom blade driver 501Bincludes bottom engagement features 952 in its left and right shoulders.The inner surfaces of top engagement features 950 couple to the left andright sides of the end effector 601A near its base portion. Similarly,the inner surfaces of the bottom engagement features 952 couple to theleft and right sides of the end effector 601B near its base portion. Thetop and bottom engagement features 950,952 apply pivoting forces to theend effectors 601A,601B respectively from the drive pulleys 510A,510B.

Furthermore, the top engagement features 950 each include a nib 951 onits inner surface to engage curved slots 953 in the outer surface ofeach bottom engagement features 952. The nibs 951 engaged in the curvedslots 953 rotatingly couple the top blade driver 501A and the bottomblade driver 501B together.

The top electrical contact 502A includes the catch 504A and left andright shoulders 902L-902R. The left and right shoulders 902L-902R coupleto the edges of the spring latch 604A.

The bottom electrical contact 502B includes the catch 504B, left andright shoulders 903L-903R, and a wire connector 904. The wire connector904 may be a crimp connector or a solder sleeve, for example, to couplethe wire 448 to the electrical contact 502B. The left and rightshoulders 903L-903R couple to the edges of the spring latch 604B.

The wire 448 is carefully routed through the wrist wrapping around thewrist pin 520 so that it can pivot with the receptacle and avoid damage.The wrist 402 includes idle pulley pairs 910A-910B so that the controlcables of the cable loops can be routed through the wrist to the drivepulleys 510A-510B.

Referring now to FIG. 10, a magnified view of a wrist subassembly isillustrated including a blade driver 501A,501B; drive pin 522A,522B;drive pulley 510A,510B; wrist pin 520; and electrical wire 448 assembledtogether. The drive pulley 510A,510B is mounted over the wrist pin 520so that the drive pin 522A,522B couples the blade driver 501A,501B andpulley together.

The drive pulley 510A,510B is coupled to a control cable of a cable loop1005 routed within the shaft from the tool base. A crimped sleeve 1025around the cable of the cable loop 1005 fastens the cable to a boss 1027of the drive pulley 510A,510B to couple the cable loop and the pulleytogether. Other cable loops may be similarly coupled to a drive pulley.

The blade driver 501A,501B includes the engagement features 950,952around a base cavity 1000 and a pin cavity 1002. The base cavityreceives the base region of the end effectors 601A-601B. The pin cavity1002 is deeper to receive an end of the fastener 602 of the end effectorcartridge 414.

The magnified view of FIG. 10 also better illustrates the catch504A,504B and the alignment edges 902L,903L and 902R,903R of theelectrical contact 502A,502B.

In one embodiment of the invention, the robotic electrosurgical tool ismonopolar with one or both end-effectors 601A-601B being electricallyhot with the same polarity. In this case, the patient is grounded viacable 149 in order to complete the circuit.

In another embodiment of the invention, the robotic electrosurgical toolmay be bipolar with both end-effectors 601A-601B being electrically hotwith differing polarity. That is, each end-effector may be wiredindependently to be hot such that when the same tissue is touched byeach, the circuit is completed. In which case, the end effectors601A-601B are to be electrically isolated from each other. Two insulatedconductive wires 448 are routed from the tool base through the shaft andthe wrist. One wire couples to the end effector 601A. The other wirecouples to the end effector 601B.

The insulated conductive wire 448 is routed from the tool base throughthe shaft and the wrist to the wristed receptacle 404. The insulatedconductive wire 448 is crimped and electrically coupled to one of theelectrical contacts 502A-502B. The crimp connection 904 may be use tocrimp the wire to the electrical contact. In other cases, the wire maybe welded or soldered to the electrical contact 502A,502B.

As previously discussed, the components of the cartridge 414 may beformed out of a metal, alloy, or metalized material to be conductive.When the cartridge is coupled into the receptacle, the electricalcontacts 502A,502B mechanically and electrically couple to the endeffectors 601A,601B. That is, when the cartridge 414 is coupled into thereceptacle 404, its conductive components can become electrically alive.As the end effectors are conductive they can be energized by a currentflowing through the insulated conductive wire 448 from the tool base.That is, the wire 448 supplies electrical power from an electricalgenerator G 150 to the end effectors.

A number of components of the wristed receptacle 404 are non-conductiveor insulative to avoid shorting the current in the insulated conductivewire 448 to an undesired location in a surgical site or back to thewrist 402. For example, the blade drivers 501A-501B may be formed of aninsulative material such as plastic (e.g., polypropylene, orfluoropolymer). The components that are formed of insulative materials,such as plastic, are not electrically alive. The wrist 402, shaft 416,and tool base are preferably not alive as they are electrically isolatedthrough the insulative components.

While the end effector cartridge has been described as beingreplaceable, in another embodiment of the invention the end effectorsare not a replaceable cartridge but instead are a part of the receptaclethat includes the end effectors. In this manner, the spring latches neednot be provided. Manufacturing costs may be lowered in this case due tothe standard components that can be used, such as the interface base,the shaft, and the wrist for the manufacture of the robotic surgicaltool.

Wristed Receptacle with Receptacle Arms

In the embodiments of the replaceable end effector cartridge previouslydescribed, the end effectors were directly actuated by pulleys of themechanical wrist and pivoted about a pivot pin of the cartridge that isoffset from the wrist pin. In the embodiments of the pluggable endeffector cartridge described below, the end effectors are directlyactuated by pulleys and receptacles of the mechanical wrist to pivotabout one main pivot point at a wrist pin.

Referring now to FIG. 11, a wristed receptacle 1100 is illustrated. Thewristed receptacle 1100 couples to a first joint of the mechanical wristthat is coupled to the end of the shaft 416 of the surgical tool 400.The wristed receptacle 1100 is used in place of the receptacle 404described previously.

The wristed receptacle 1100 includes a first receptacle arm 1101A, asecond receptacle arm 1101B, a first drive pulley 1110A, a second drivepulley 1110B, and a wrist pin 1120 coupled to a second joint 1102. Thefirst drive pulley 1110A is directly coupled to the first receptacle arm1101A to control its position. The second drive pulley 1110B is directlycoupled to the second receptacle arm 1101B to control its position. Aspreviously discussed, a pair of drive pulleys may be jointly controlledtogether to actuate end effectors or move the end effectors about. Inthis case, the drive pulleys 1110A-1110B may be jointly controlledtogether to move the receptacle arms with end effectors plugged thereinabout a pivot point 1150 with an axis substantially concentric with thewrist pin 1120. Additionally, the drive pulleys 1110A-1110B may beseparately controlled to open or close the end effectors 1201A-1201Babout the pivot point 1150 with it pivot axis substantially concentricwith the wrist pin 1120.

The receptacle arms 1101A-1101B include a receptacle 1111A-1111B havingan opening 1112A-1112B with an electrical contact 1114A-1114B,respectively. The electrical contact 1114A-1114B is similar to theelectrical contacts 502A-502B illustrated in FIG. 5 previouslydescribed. Each of the electrical contacts 1114A-1114B includes a catch1115 that is similar to the catches or tabs 504A-504B previouslydescribed.

One or both of the receptacles 1111A-1111B may further include a pocket1117 to receive one electrical wire 448. Each pocket 1117 may be filledwith a potting compound to protect and electrically isolate theelectrical wire and electrical contact. The electrical wire 448 maycouple to an electrical contact 1114A-1114B by soldering, a crimpconnector, or other known means of coupling a wire to a contact. Theinsulated wire 448 is routed from the interface base through the shaft416 and into the wrested receptacle 1100 to couple to the metal contact1114A or 1114B.

But for the electrical contacts 1114A-1114B, the receptacle arms1101A-1101B are formed out of an insulated material, such as plastic,polypropylene, or fluoropolymer, in order to electrically isolate thewristed receptacle 1100 from the conductive components of the endeffector cartridge 1200 that may be electrically live.

Referring to FIG. 14, the wristed receptacle 1100 may optionally includea fluor-plastic heat shrink 1400 around the plastic receptacles1111A-1111B to provide additional electric isolation from anelectrically live end effector cartridge 1200. The fluoro-plastic heatshrink 1400 may alternatively be a fluoro-polymer to provide a goodinsulator.

Pluggable Moveable End Effectors

Referring now to FIG. 12, a pluggable moveable end effector cartridge1200 is illustrated. The pluggable moveable end effector cartridge 1200includes a first pluggable moveable end effector 1201A, a secondpluggable moveable end effector 1201B, and a fastener 1203 to couple thefirst moveable end effector and the second moveable end effectortogether as shown.

Each of the moveable end effectors 1201A-1201B includes a jaw portion1220A, an off-center portion 1220B and a base portion 1220C. Near theoff-center portion 1220B of each end effector, a fastener 1203 may beused to couple the end effectors together.

The first moveable end effector 1201A includes a slotted opening 1214through which the fastener 1203 may be inserted. The second end effector1201B includes an opening 1216 to receive the fastener 1203. The slottedopening 1214 may allow the first moveable end effector 1201A to slideover the second moveable end effector 1201B within a range of lateralmovements. In one embodiment of the invention, the slotted opening is amedial lateral arc slot in one end effector 1201A to engage the fastener1203, such as a rivet through the opening 1216 in the end effector1201B. The fastener 1203 engaged in the slotted opening binds the jawstogether in one direction along the length of the end effectors(longitudinal) and allows movement over each other in the widthdirection (lateral).

The axis 1150 about which the first end effector and the second endeffector 1201B are pivoted is at the wrist pin 1120 of the wristedreceptacle 1100. The first and second moveable end effectors 1201A-1201Bdo not pivot about the fastener 1203.

The fastener 1203 in one embodiment of the invention is a screw with ascrew head and a threaded shaft that includes a male thread. In the casethe fastener 1203 is a screw, the opening in the second moveable endeffector 1201B includes a female thread into which the male thread ofthe screw 1203 may be threaded. Alternatively, the opening 1216 in thesecond moveable end effector 1201B may not be threaded. Instead, thefastener 1203 may be a bolt and nut combination, a rivet, or other knownfastener inserted through the slotted opening 1214 and the opening 1216in the respective end effectors.

In a preferred embodiment of the invention, the jaws of the end effectorare scissor blades and the pluggable moveable end effector cartridge1200 is a scissors cartridge. In which case, the fastener 1203 may be ascrew to apply tension between the blades in order for them to cuttissue. The screw fastener can be also be adjusted to maintain a correctoverlap in the jaw blades of the scissors cartridge to obtain a desiredshearing action. In this case, the drive pulleys are directly coupled tothe receptacles and can control the blades mounted therein so as to movethem in opposed directions to provide a shearing action.

The end effectors 1201A-1201B further include a spring latch1204A-1204B, respectively, that may be formed as an integral partthereof. Each of the spring latches 1204A-1204B includes a retentionslot 1206A-1206B to respectively couple to the catches 1115 of therespective receptacles 1111A-1111B.

A substantial number, if not all, of components of the pluggablemoveable end effector cartridge 1200 are formed out of metal, a metalalloy, a metalized material, or other conductive material to conductelectricity. In this manner, the end effector cartridge may be madeelectrically live by being coupled to the electrical contacts1114A-1114B.

Referring now to FIG. 13, the cartridge 1200 is plugged into the wristedreceptacle 1100. The base portion 1220C of each end effector 1201A-1201Bis coupled into the respective receptacles 1111A-1111B. The retentionslots 1206A-1206B are engaged over the catches 1115 in each receptacle.The spring latches 1204A-1204B are flexible and allow them to bedepressed in order to have the retention slots 1206A-1206B be engagedwith the catches 1115. Similarly, the spring latches 1204A-1204B extendout from the arm receptacles 1111A-1111B in order that they may bedepressed to release and unplug the end effector cartridge 1201 from thewristed receptacle 1100.

Each of the spring latches 1204A-1204B is pressed inward toward the axisof the end effectors in order to release the retention slot from thecatches 1115. The end effector cartridge 1200 may then be pulled outfrom the wristed receptacle 1100. In this manner, a dull or worn endeffector cartridge may be replaced by a fresh or new end effectorcartridge.

As discussed previously, the wristed receptacle 1100 couples to a firstjoint of the mechanical wrist that is coupled to the end of the shaft416 of the surgical tool 400. The second joint 1102 couples between thereceptacles 1101A-1101B and the first joint. The mechanical wrist mayfurther include idle pulley pairs, idle pins, an additional wrist pin,and pulleys as described previously with reference to FIGS. 9A-9B.

Further details of the components of mechanical wrists that may beapplicable with the wristed receptacle 1100 are described in U.S. PatentNos. with filing dates and named inventor as follows U.S. Pat. No.5,792,135, May 16, 1997, Madhani et al; U.S. Pat. No. 5,979,900, May 16,1997, Madhani et al; U.S. Pat. No. 5,807,377, May 16, 1997, Madhani etal; U.S. Pat. No. 6,206,903, Oct. 8, 1999, Ramans; U.S. Pat. No.6,312,435, Oct. 8, 1999, Wallace et al.; U.S. Pat. No. 6,371,952, Jun.28, 1999, Madhani et al; U.S. Pat. No. 6,394,998, Sep. 17, 1999, Wallaceet al.; U.S. Pat. No. 6,676,684, Sep. 4, 2001, Morley et al.; U.S. Pat.No. 6,685,698, Jan. 10, 2003, Morley et al.; U.S. Pat. No. 6,699,235,Mar. 2, 2004, Wallace et al.; U.S. Pat. No. 6,746,443, Jul. 27, 2000,Morley et al.; U.S. Pat. No. 6,817,974, Jun. 28, 2002, Cooper et al.;and application Ser. No. 10/726,795, Pub. No.: US 2004/0138700 A1, Dec.2, 2003, Cooper et al., all of which are incorporated herein byreference.

Generally, the cartridge design in the embodiments of the inventiondisclosed herein aims to keep the mechanical wrist dry. Current leakagefrom the instruments is minimized from areas other than the activeelectrode. For example, this may be accomplished by the outer tubedesign (e.g., materials, coatings), how the outer tube design relates toworking with a metal cannula, hypotube segment lengths and locations,hypotube isolation, vectran isolation to “interrupt” a hypotube tocontain current to the instrument front end (creates electricaldiscontinuity), a seal at the distal end of the instrument lumen to keepfluids out of the lumen, coatings on the boot, or materials on the boot.Boot durability may be maintained by material and coating selection.Additionally, scissor blades may be designed to minimize tissuesticking.

The embodiments of the invention are thus described. Although certainexemplary embodiments and methods have been described in some detail,for clarity of understanding and by way of example, it will be apparentfrom the foregoing disclosure to those skilled in the art thatvariations, modifications, changes, and adaptations of such embodimentsand methods may be made without departing from the true spirit and scopeof the invention. For example, it will be appreciated that one ofordinary skill in the art will be able to employ a number correspondingalternative and equivalent structural details, such as equivalent waysof fastening, mounting, coupling, or engaging tool components,equivalent mechanisms for producing particular actuation motions, andequivalent mechanisms for delivering electrical energy. Additionally,while a mechanical wrist and various mechanisms are illustrated anddescribed herein to actuate the end effectors, other types of mechanicalwrists, as well as other mechanisms may be used to actuate the endeffectors, such as the mechanical wrist and mechanism illustrated byFIGS. 37-41 and described in U.S. Pat. No. 6,817,974, filed by Cooper etal. on Jun. 28, 2002 which has been incorporated by reference herein.Therefore, the above description should not be taken as limiting thescope of the invention which is defined by the appended claims.

What is claimed is:
 1. A robotic surgical system comprising: a roboticsurgical tool having an electrical connector to couple to an electricalgenerator to receive electrical current, the robotic surgical toolfurther comprising: an interface base coupled to the electricalconnector, the interface base having a first control spool and a secondcontrol spool, a shaft having a first end coupled to the interface base,a first rotatable receptacle and a second rotatable receptacle, a firstpluggable moveable end effector detachably coupled to the firstrotatable receptacle, the first pluggable moveable end effector formedof a conductive material and responsive to a first control cable wrappedaround the first control spool, a second pluggable moveable end effectordetachably coupled to the second rotatable receptacle, the secondpluggable moveable end effector formed of a conductive material andresponsive to a second control cable wrapped around the second controlspool; a pivot pin rotatably coupling the first and second pluggablemoveable end effectors together, wherein the pivot pin maintains therotatable coupling between the first and second pluggable moveable endeffectors upon their detachment from the first and second rotatablereceptacles; and a first wire having a first end coupled to theelectrical connector and a second end to electrically couple to thefirst pluggable moveable end effector, the first wire to couple currentto tissue through the first pluggable moveable end effector.
 2. Therobotic surgical system of claim 1, wherein the first receptacle and thesecond receptacle are electrically isolated, the first pluggablemoveable end effector and the second pluggable moveable end effector areelectrically isolated, and the robotic surgical tool further includes asecond wire having a first end coupled to the electrical connector and asecond end to electrically couple to the second pluggable moveable endeffector, the second wire to couple current to tissue through the secondpluggable moveable end effector.
 3. The robotic surgical system of claim1, wherein but for an electrical contact, the first receptacle and thesecond receptacle are formed of an insulative material to receive thefirst and second pluggable moveable end effectors and electricallyisolate the first and second pluggable moveable end effectors from theshaft and the interface base.
 4. The robotic surgical system of claim 1,wherein the robotic surgical tool further includes a mechanical wristcoupled between the shaft and the first and second rotatablereceptacles, the mechanical wrist having a first pulley coupled to thefirst rotatable receptacle and a second pulley coupled to the secondrotatable receptacle, the first pulley coupled to the first controlcable from the interface base to control movement of the first rotatablereceptacle and first pluggable moveable end effector, the second pulleycoupled to the second control cable from the interface base to controlmovement of the second rotatable receptacle and second pluggablemoveable end effector.
 5. The robotic surgical system of claim 1,wherein the robotic surgical tool further includes a mechanical wristcoupled between the shaft and the first and second rotatablereceptacles, wherein the mechanical wrist includes a wristed receptaclecoupled to a first joint, and the wristed receptacle includes the firstrotatable receptacle and the second rotatable receptacle.
 6. The roboticsurgical system of claim 1, wherein the first rotatable receptacle is afirst half receptacle, the second rotatable receptacle is a second halfreceptacle, and the robotic surgical tool further includes a mechanicalwrist coupled between the shaft and the first and second rotatablereceptacles, wherein the mechanical wrist includes a wristed receptaclecoupled to a first joint, and the wristed receptacle includes the firsthalf receptacle and the second half receptacle.
 7. A robotic surgicalsystem comprising: a robotic surgical tool having an electricalconnector to couple to an electrical generator to receive electricalcurrent, the robotic surgical tool including an interface base coupledto the electrical connector, the interface base having a first controlspool and a second control spool, a shaft having a first end coupled tothe interface base, a first rotatable receptacle and a second rotatablereceptacle, each of the first and second rotatable receptacle furtherincluding a cavity to receive a spring latch and a base portion of thepluggable moveable end effector; an electrical contact in the cavitywith a catch to couple into a retention slot in the spring latch of thepluggable moveable end effector; a first engagement feature on a firstside of the cavity to hold a first side of the pluggable moveable endeffector; a first engagement feature on a second side of the cavity tohold a second side of the pluggable moveable end effector; and a pinopening to couple to a drive pin of a pulley, a first pluggable moveableend effector detachably coupled to the first rotatable receptacle, thefirst pluggable moveable end effector formed of a conductive materialand responsive to a first control cable wrapped around the first controlspool, a second pluggable moveable end effector detachably coupled tothe second rotatable receptacle, the second pluggable moveable endeffector formed of a conductive material and responsive to a secondcontrol cable wrapped around the second control spool, and a first wirehaving a first end coupled to the electrical connector and a second endto electrically couple to the first pluggable moveable end effector, thefirst wire to couple current to tissue through the first pluggablemoveable end effector.
 8. The robotic surgical system of claim 7,wherein the electrical contact further has a first alignment edge tocouple to the first side of the pluggable moveable end effector and asecond alignment edge to couple to the second side of the pluggablemoveable end effector.
 9. The robotic surgical system of claim 7,wherein the first receptacle and the second receptacle are electricallyisolated, the first pluggable moveable end effector and the secondpluggable moveable end effector are electrically isolated, and therobotic surgical tool further includes a second wire having a first endcoupled to the electrical connector and a second end to electricallycouple to the second pluggable moveable end effector, the second wire tocouple current to tissue through the second pluggable moveable endeffector.
 10. The robotic surgical system of claim 7, wherein but for anelectrical contact, the first receptacle and the second receptacle areformed of an insulative material to receive the first and secondpluggable moveable end effectors and electrically isolate the first andsecond pluggable moveable end effectors from the shaft and the interfacebase.
 11. The robotic surgical system of claim 7, wherein the roboticsurgical tool further includes a mechanical wrist coupled between theshaft and the first and second rotatable receptacles, the mechanicalwrist having a first pulley coupled to the first rotatable receptacleand a second pulley coupled to the second rotatable receptacle, thefirst pulley coupled to the first control cable from the interface baseto control movement of the first rotatable receptacle and firstpluggable moveable end effector, the second pulley coupled to the secondcontrol cable from the interface base to control movement of the secondrotatable receptacle and second pluggable moveable end effector.
 12. Therobotic surgical system of claim 7, wherein the robotic surgical toolfurther includes a mechanical wrist coupled between the shaft and thefirst and second rotatable receptacles, wherein the mechanical wristincludes a wristed receptacle coupled to a first joint, and the wristedreceptacle includes the first rotatable receptacle and the secondrotatable receptacle.
 13. The robotic surgical system of claim 7,wherein the first rotatable receptacle is a first half receptacle, thesecond rotatable receptacle is a second half receptacle, and the roboticsurgical tool further includes a mechanical wrist coupled between theshaft and the first and second rotatable receptacles, wherein themechanical wrist includes a wristed receptacle coupled to a first joint,and the wristed receptacle includes the first half receptacle and thesecond half receptacle.